Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip

Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip

An adaptive formation control law for non-holonomic dynamic robots based on an artificial potential function method in the presence of lateral slip and parametric uncertainties is presented to organize multiple robots into formation. It is formulated to achieve the smooth control of the translationa...

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Bibliographic Details
Main Authors:	Cai Ze-Su, Zhao Jie, Cao Jian
Format:	Article
Language:	English
Published:	SAGE Publishing 2012-11-01
Series:	International Journal of Advanced Robotic Systems
Online Access:	https://doi.org/10.5772/52768

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